#pragma config(Sensor, dgtl1,  LeftVacumeEncoder,   sensorRotation)
#pragma config(Sensor, dgtl2,  RightVacumeEncoder,  sensorRotation)
#pragma config(Motor,  port2,           LeftBase,      tmotorNormal, openLoop)
#pragma config(Motor,  port3,           RightBase,     tmotorNormal, openLoop)
#pragma config(Motor,  port4,           LeftArm,       tmotorNormal, openLoop)
#pragma config(Motor,  port5,           RightArm,      tmotorNormal, openLoop)
#pragma config(Motor,  port6,           LeftVacume,    tmotorNormal, openLoop)
#pragma config(Motor,  port7,           RightVacume,   tmotorNormal, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

void(


task main()
{
  while(1) // the code goes forever
  {
    motor[LeftBase] = vexRT(Ch2); // the left motor
    motor[RightBase] = vexRT(Ch3); // the right motor
    ////////////////////////////////////////////////////////////////////////////////////////
    if(vexRT[Btn7U] == 1) // makes the arms go up if Btn 7 Up is pressed
    {
      motor[LeftArm] = 127;
      motor[RightArm] = 127;
    }
    ////////////////////////////////////////////////////////////////////////////////////////
    if(vexRT[Btn7D] == 1)  // makes the arms go down if Btn 7 Down is pressed
    {
      motor[LeftArm] = -127;
      motor[RightArm] = -127;
    }
    ////////////////////////////////////////////////////////////////////////////////////////
    if(vexRT[Btn8U] == 1) // makes the vacume go up if Btn 8 up is pressed
    {
      motor[LeftVacume] = 127;
      motor[RightVacume] = 127;
    }
    ////////////////////////////////////////////////////////////////////////////////////////
    if(vexRT[Btn8D] == 1) // makes the vacume go down if Btn 8 down is pressed
    {
    }
  }
}

		if(SensorValue[RightVacumeEncoder] == SensorValue[LeftVacumeEncoder]) // If RightVacumeEncoder has counted the same amount as LeftVacumeEncoder:
		{
			// Move Forward
			motor[RightVacume] = 80;		    // Right Motor is run at power level 80
			motor[LeftVacume]  = 80;		    // Left Motor is run at power level 80
		}
		else if(SensorValue[RightVacumeEncoder] > SensorValue[LeftVacumeEncoder])	// If RightVacumeEncoder has counted more encoder counts
		{
			// Turn slightly right
			motor[RightVacume] = 60;		    // Right Motor is run at power level 60
			motor[LeftVacume]  = 80;		    // Left Motor is run at power level 80
		}
		else	// Only runs if LeftVacumeEncoder has counted more encoder counts
		{
			// Turn slightly left
			motor[RightVacume] = 80;		    // Right Motor is run at power level 80
			motor[LeftVacume]  = 60;		    // Left Motor is run at power level 60
		}
